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<div class="title">lzf_image_io.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_LZF_IMAGE_IO_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_LZF_IMAGE_IO_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/io/debayer.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#define CLIP_CHAR(c) static_cast&lt;unsigned char&gt; ((c)&gt;255?255:(c)&lt;0?0:(c))</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#a132c3d595efa349b884f98c50ffcdef3">   48</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#a132c3d595efa349b884f98c50ffcdef3">pcl::io::LZFDepth16ImageReader::read</a> (</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#ac9431f9c74fd56f8108a19af4d24fdac">loadImageBlob</a> (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFDepth16ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a5d82b0b1ed44f9bf0cfb6096f3a53cc1">getWidth</a> () * <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a6c0f4da5461f686726dbe3b5b8698017">getHeight</a> () * 2)</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFDepth16ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFDepth16ImageReader::read] Are you sure %s is a 16-bit depth PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a5d82b0b1ed44f9bf0cfb6096f3a53cc1">getWidth</a> () * <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a6c0f4da5461f686726dbe3b5b8698017">getHeight</a> () * 2, filename.c_str (), <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#ae380cfe42ff466bad51e8a2d7b6fd707">getImageType</a> ().c_str ());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a7f50561119e7c71204e6fbacdba863f0">decompress</a> (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFDepth16ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Copy to PointT</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a5d82b0b1ed44f9bf0cfb6096f3a53cc1">getWidth</a> ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a6c0f4da5461f686726dbe3b5b8698017">getHeight</a> ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (<a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a5d82b0b1ed44f9bf0cfb6096f3a53cc1">getWidth</a> () * <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a6c0f4da5461f686726dbe3b5b8698017">getHeight</a> ());</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">int</span> depth_idx = 0, point_idx = 0;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">double</span> constant_x = 1.0 / <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#aeaccfe5ec36e1a136234fa07bfc23d0d">parameters_</a>.<a class="code" href="structpcl_1_1io_1_1_camera_parameters.html#a224e78d6978373075f9b527aedfe429b">focal_length_x</a>,</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;         constant_y = 1.0 / <a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#aeaccfe5ec36e1a136234fa07bfc23d0d">parameters_</a>.<a class="code" href="structpcl_1_1io_1_1_camera_parameters.html#aa6935383ac5be4f340151cc765078b68">focal_length_y</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">for</span> (uint32_t v = 0; v &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; ++v)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">for</span> (uint32_t u = 0; u &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>; ++u, ++point_idx, depth_idx += 2)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_idx];</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> val;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      memcpy (&amp;val, &amp;uncompressed_data[depth_idx], <span class="keyword">sizeof</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>));</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordflow">if</span> (val == 0)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        pt.x = pt.y = pt.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      pt.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (val * <a class="code" href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#ac12f2cd2ef7935da94532ff5e4666c98">z_multiplication_factor_</a>);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      pt.x = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (u) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#aeaccfe5ec36e1a136234fa07bfc23d0d">parameters_</a>.<a class="code" href="structpcl_1_1io_1_1_camera_parameters.html#ad562d7b26e6740154a360a45f00fc5dd">principal_point_x</a>)) </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        * pt.z * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (constant_x);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      pt.y = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (v) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1io_1_1_l_z_f_image_reader.html#aeaccfe5ec36e1a136234fa07bfc23d0d">parameters_</a>.<a class="code" href="structpcl_1_1io_1_1_camera_parameters.html#a2af06f9d1d958652804e26c608cd2ac1">principal_point_y</a>)) </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        * pt.z * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (constant_y);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>.setZero ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.w () = 1.0f;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.x () = 0.0f;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.y () = 0.0f;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.z () = 0.0f;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#afa8e771febc97adba5dbcbe7b4a7dcc5">  113</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#afa8e771febc97adba5dbcbe7b4a7dcc5">pcl::io::LZFDepth16ImageReader::readOMP</a> (<span class="keyword">const</span> std::string &amp;filename, </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                                         <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                                         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_threads)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;{</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFDepth16ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight () * 2)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFDepth16ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFDepth16ImageReader::read] Are you sure %s is a 16-bit depth PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight () * 2, filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFDepth16ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="comment">// Copy to PointT</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = getWidth ();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = getHeight ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordtype">double</span> constant_x = 1.0 / parameters_.focal_length_x,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;         constant_y = 1.0 / parameters_.focal_length_y;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (num_threads)</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; static_cast&lt; int&gt; (cloud.size ()); ++i)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">int</span> u = i % cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">int</span> v = i / cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">int</span> depth_idx = 2*i;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> val;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    memcpy (&amp;val, &amp;uncompressed_data[depth_idx], <span class="keyword">sizeof</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>));</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">if</span> (val == 0)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      pt.x = pt.y = pt.z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#pragma omp critical</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    pt.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (val * z_multiplication_factor_);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    pt.x = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (u) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (parameters_.principal_point_x)) </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      * pt.z * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (constant_x);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    pt.y = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (v) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (parameters_.principal_point_y)) </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      * pt.z * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (constant_y);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>.setZero ();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.w () = 1.0f;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.x () = 0.0f;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.y () = 0.0f;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>.z () = 0.0f;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_r_g_b24_image_reader.html#a04e68d388618741c93b7ad523d48f6e6">  192</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_r_g_b24_image_reader.html#a04e68d388618741c93b7ad523d48f6e6">pcl::io::LZFRGB24ImageReader::read</a> (</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;{</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFRGB24ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight () * 3)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFRGB24ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFRGB24ImageReader::read] Are you sure %s is a 24-bit RGB PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight () * 3, filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFRGB24ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="comment">// Copy to PointT</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = getWidth ();</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = getHeight ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordtype">int</span> rgb_idx = 0;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_r = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[0]);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_g = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[getWidth () * getHeight ()]);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_b = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[2 * getWidth () * getHeight ()]);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i, ++rgb_idx)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    pt.b = color_b[rgb_idx];</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    pt.g = color_g[rgb_idx];</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    pt.r = color_r[rgb_idx];</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;}</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_r_g_b24_image_reader.html#ad309fd06b300a0712254ac3b7152e210">  241</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_r_g_b24_image_reader.html#ad309fd06b300a0712254ac3b7152e210">pcl::io::LZFRGB24ImageReader::readOMP</a> (</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_threads)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;{</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFRGB24ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight () * 3)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFRGB24ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFRGB24ImageReader::read] Are you sure %s is a 24-bit RGB PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight () * 3, filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFRGB24ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="comment">// Copy to PointT</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = getWidth ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = getHeight ();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_r = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[0]);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_g = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[getWidth () * getHeight ()]);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_b = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[2 * getWidth () * getHeight ()]);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (num_threads)</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="preprocessor">#endif</span><span class="comment">//_OPENMP</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    pt.b = color_b[i];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    pt.g = color_g[i];</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    pt.r = color_r[i];</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;}</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_y_u_v422_image_reader.html#ab1b4d14037d6d5964bf89864310c7a9a">  292</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_y_u_v422_image_reader.html#ab1b4d14037d6d5964bf89864310c7a9a">pcl::io::LZFYUV422ImageReader::read</a> (</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;{</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFYUV422ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight () * 2)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFYUV422ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFYUV422ImageReader::read] Are you sure %s is a 16-bit YUV422 PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight (), filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFYUV422ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="comment">// Convert YUV422 to RGB24 and copy to PointT</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = getWidth ();</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = getHeight ();</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordtype">int</span> wh2 = getWidth () * getHeight () / 2;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_u = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[0]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_y = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[wh2]);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_v = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[wh2 + getWidth () * getHeight ()]);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keywordtype">int</span> y_idx = 0;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; wh2; ++i, y_idx += 2)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordtype">int</span> v = color_v[i] - 128;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordtype">int</span> u = color_u[i] - 128;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt1 = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[y_idx + 0];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    pt1.r =  CLIP_CHAR (color_y[y_idx + 0] + ((v * 18678 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    pt1.g =  CLIP_CHAR (color_y[y_idx + 0] + ((v * -9519 - u * 6472 + 8192) &gt;&gt; 14));</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    pt1.b =  CLIP_CHAR (color_y[y_idx + 0] + ((u * 33292 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt2 = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[y_idx + 1];</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    pt2.r =  CLIP_CHAR (color_y[y_idx + 1] + ((v * 18678 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    pt2.g =  CLIP_CHAR (color_y[y_idx + 1] + ((v * -9519 - u * 6472 + 8192) &gt;&gt; 14));</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    pt2.b =  CLIP_CHAR (color_y[y_idx + 1] + ((u * 33292 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;}</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_y_u_v422_image_reader.html#acc7254e50a0aba7fc7f68c72170c5c8f">  350</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_y_u_v422_image_reader.html#acc7254e50a0aba7fc7f68c72170c5c8f">pcl::io::LZFYUV422ImageReader::readOMP</a> (</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_threads)</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;{</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFYUV422ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight () * 2)</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  {</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFYUV422ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFYUV422ImageReader::read] Are you sure %s is a 16-bit YUV422 PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight (), filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  {</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFYUV422ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="comment">// Convert YUV422 to RGB24 and copy to PointT</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = getWidth ();</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = getHeight ();</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="keywordtype">int</span> wh2 = getWidth () * getHeight () / 2;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_u = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[0]);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_y = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[wh2]);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *color_v = <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[wh2 + getWidth () * getHeight ()]);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (num_threads)</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;<span class="preprocessor">#endif</span><span class="comment">//_OPENMP</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; wh2; ++i)</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keywordtype">int</span> y_idx = 2*i;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="keywordtype">int</span> v = color_v[i] - 128;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="keywordtype">int</span> u = color_u[i] - 128;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt1 = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[y_idx + 0];</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    pt1.r =  CLIP_CHAR (color_y[y_idx + 0] + ((v * 18678 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    pt1.g =  CLIP_CHAR (color_y[y_idx + 0] + ((v * -9519 - u * 6472 + 8192) &gt;&gt; 14));</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    pt1.b =  CLIP_CHAR (color_y[y_idx + 0] + ((u * 33292 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt2 = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[y_idx + 1];</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    pt2.r =  CLIP_CHAR (color_y[y_idx + 1] + ((v * 18678 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    pt2.g =  CLIP_CHAR (color_y[y_idx + 1] + ((v * -9519 - u * 6472 + 8192) &gt;&gt; 14));</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    pt2.b =  CLIP_CHAR (color_y[y_idx + 1] + ((u * 33292 + 8192 ) &gt;&gt; 14));</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  }</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;}</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_bayer8_image_reader.html#ab49ae71a0fa73f2ecf44a53e5b3400db">  411</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_bayer8_image_reader.html#ab49ae71a0fa73f2ecf44a53e5b3400db">pcl::io::LZFBayer8ImageReader::read</a> (</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;{</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  {</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFBayer8ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight ())</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  {</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFBayer8ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFBayer8ImageReader::read] Are you sure %s is a 8-bit Bayer PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight (), filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  {</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFBayer8ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <span class="comment">// Convert Bayer8 to RGB24</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  std::vector&lt;unsigned char&gt; rgb_buffer (getWidth () * getHeight () * 3);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  <a class="code" href="classpcl_1_1io_1_1_de_bayer.html">pcl::io::DeBayer</a> i;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  i.debayerEdgeAware (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[0]), </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;                     <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;rgb_buffer[0]), </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;                     getWidth (), getHeight ());</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  <span class="comment">// Copy to PointT</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = getWidth ();</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = getHeight ();</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keywordtype">int</span> rgb_idx = 0;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i, rgb_idx += 3)</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  {</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    pt.b = rgb_buffer[rgb_idx + 2];</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    pt.g = rgb_buffer[rgb_idx + 1];</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    pt.r = rgb_buffer[rgb_idx + 0];</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;}</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00461"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_l_z_f_bayer8_image_reader.html#a5c6b8e899c784eda8f9996ea91404099">  461</a></span>&#160;<a class="code" href="classpcl_1_1io_1_1_l_z_f_bayer8_image_reader.html#a5c6b8e899c784eda8f9996ea91404099">pcl::io::LZFBayer8ImageReader::readOMP</a> (</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="keyword">const</span> std::string &amp;filename, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_threads)</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;{</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  uint32_t uncompressed_size;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  std::vector&lt;char&gt; compressed_data;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  <span class="keywordflow">if</span> (!loadImageBlob (filename, compressed_data, uncompressed_size))</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  {</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFBayer8ImageReader::read] Unable to read image data from %s.\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  }</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keywordflow">if</span> (uncompressed_size != getWidth () * getHeight ())</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  {</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::io::LZFBayer8ImageReader::read] Uncompressed data has wrong size (%u), while in fact it should be %u bytes. \n[pcl::io::LZFBayer8ImageReader::read] Are you sure %s is a 8-bit Bayer PCLZF file? Identifier says: %s\n&quot;</span>, uncompressed_size, getWidth () * getHeight (), filename.c_str (), getImageType ().c_str ());</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  std::vector&lt;char&gt; uncompressed_data (uncompressed_size);</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  decompress (compressed_data, uncompressed_data);</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <span class="keywordflow">if</span> (uncompressed_data.empty ())</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::io::LZFBayer8ImageReader::read] Error uncompressing data stored in %s!\n&quot;</span>, filename.c_str ());</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <span class="comment">// Convert Bayer8 to RGB24</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  std::vector&lt;unsigned char&gt; rgb_buffer (getWidth () * getHeight () * 3);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <a class="code" href="classpcl_1_1io_1_1_de_bayer.html">pcl::io::DeBayer</a> i;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  i.debayerEdgeAware (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;uncompressed_data[0]), </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                     <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;rgb_buffer[0]), </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;                     getWidth (), getHeight ());</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  <span class="comment">// Copy to PointT</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = getWidth ();</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = getHeight ();</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (getWidth () * getHeight ());</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads (num_threads)</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="preprocessor">#endif</span><span class="comment">//_OPENMP</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">int</span> rgb_idx = 3*i;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    pt.b = rgb_buffer[rgb_idx + 2];</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    pt.g = rgb_buffer[rgb_idx + 1];</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    pt.r = rgb_buffer[rgb_idx + 0];</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;}</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_LZF_IMAGE_IO_HPP_</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_de_bayer_html"><div class="ttname"><a href="classpcl_1_1io_1_1_de_bayer.html">pcl::io::DeBayer</a></div><div class="ttdoc">Various debayering methods.</div><div class="ttdef"><b>Definition:</b> debayer.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_bayer8_image_reader_html_a5c6b8e899c784eda8f9996ea91404099"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_bayer8_image_reader.html#a5c6b8e899c784eda8f9996ea91404099">pcl::io::LZFBayer8ImageReader::readOMP</a></div><div class="ttdeci">bool readOMP(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud, unsigned int num_threads=0)</div><div class="ttdoc">Read the data stored in a PCLZF Bayer 8bit file and convert it to a pcl::PointCloud type....</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:461</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_bayer8_image_reader_html_ab49ae71a0fa73f2ecf44a53e5b3400db"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_bayer8_image_reader.html#ab49ae71a0fa73f2ecf44a53e5b3400db">pcl::io::LZFBayer8ImageReader::read</a></div><div class="ttdeci">bool read(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Read the data stored in a PCLZF Bayer 8bit file and convert it to a pcl::PointCloud type.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:411</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_depth16_image_reader_html_a132c3d595efa349b884f98c50ffcdef3"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#a132c3d595efa349b884f98c50ffcdef3">pcl::io::LZFDepth16ImageReader::read</a></div><div class="ttdeci">bool read(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_depth16_image_reader_html_ac12f2cd2ef7935da94532ff5e4666c98"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#ac12f2cd2ef7935da94532ff5e4666c98">pcl::io::LZFDepth16ImageReader::z_multiplication_factor_</a></div><div class="ttdeci">double z_multiplication_factor_</div><div class="ttdoc">Z-value depth multiplication factor (i.e., if raw data is in [mm] and we want [m],...</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_depth16_image_reader_html_afa8e771febc97adba5dbcbe7b4a7dcc5"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_depth16_image_reader.html#afa8e771febc97adba5dbcbe7b4a7dcc5">pcl::io::LZFDepth16ImageReader::readOMP</a></div><div class="ttdeci">bool readOMP(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud, unsigned int num_threads=0)</div><div class="ttdoc">Read the data stored in a PCLZF depth file and convert it to a pcl::PointCloud type.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:113</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_image_reader_html_a5d82b0b1ed44f9bf0cfb6096f3a53cc1"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a5d82b0b1ed44f9bf0cfb6096f3a53cc1">pcl::io::LZFImageReader::getWidth</a></div><div class="ttdeci">uint32_t getWidth() const</div><div class="ttdoc">Get the image width as read from disk.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_image_reader_html_a6c0f4da5461f686726dbe3b5b8698017"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a6c0f4da5461f686726dbe3b5b8698017">pcl::io::LZFImageReader::getHeight</a></div><div class="ttdeci">uint32_t getHeight() const</div><div class="ttdoc">Get the image height as read from disk.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_image_reader_html_a7f50561119e7c71204e6fbacdba863f0"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_image_reader.html#a7f50561119e7c71204e6fbacdba863f0">pcl::io::LZFImageReader::decompress</a></div><div class="ttdeci">bool decompress(const std::vector&lt; char &gt; &amp;input, std::vector&lt; char &gt; &amp;output)</div><div class="ttdoc">Realtime LZF decompression.</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_image_reader_html_ac9431f9c74fd56f8108a19af4d24fdac"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_image_reader.html#ac9431f9c74fd56f8108a19af4d24fdac">pcl::io::LZFImageReader::loadImageBlob</a></div><div class="ttdeci">bool loadImageBlob(const std::string &amp;filename, std::vector&lt; char &gt; &amp;data, uint32_t &amp;uncompressed_size)</div><div class="ttdoc">Load a compressed image array from disk</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_image_reader_html_ae380cfe42ff466bad51e8a2d7b6fd707"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_image_reader.html#ae380cfe42ff466bad51e8a2d7b6fd707">pcl::io::LZFImageReader::getImageType</a></div><div class="ttdeci">std::string getImageType() const</div><div class="ttdoc">Get the type of the image read from disk.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_image_reader_html_aeaccfe5ec36e1a136234fa07bfc23d0d"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_image_reader.html#aeaccfe5ec36e1a136234fa07bfc23d0d">pcl::io::LZFImageReader::parameters_</a></div><div class="ttdeci">CameraParameters parameters_</div><div class="ttdoc">Internal set of camera parameters.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_r_g_b24_image_reader_html_a04e68d388618741c93b7ad523d48f6e6"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_r_g_b24_image_reader.html#a04e68d388618741c93b7ad523d48f6e6">pcl::io::LZFRGB24ImageReader::read</a></div><div class="ttdeci">bool read(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Read the data stored in a PCLZF RGB file and convert it to a pcl::PointCloud type.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:192</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_r_g_b24_image_reader_html_ad309fd06b300a0712254ac3b7152e210"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_r_g_b24_image_reader.html#ad309fd06b300a0712254ac3b7152e210">pcl::io::LZFRGB24ImageReader::readOMP</a></div><div class="ttdeci">bool readOMP(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud, unsigned int num_threads=0)</div><div class="ttdoc">Read the data stored in a PCLZF RGB file and convert it to a pcl::PointCloud type....</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:241</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_y_u_v422_image_reader_html_ab1b4d14037d6d5964bf89864310c7a9a"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_y_u_v422_image_reader.html#ab1b4d14037d6d5964bf89864310c7a9a">pcl::io::LZFYUV422ImageReader::read</a></div><div class="ttdeci">bool read(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Read the data stored in a PCLZF YUV422 16bit file and convert it to a pcl::PointCloud type.</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:292</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_l_z_f_y_u_v422_image_reader_html_acc7254e50a0aba7fc7f68c72170c5c8f"><div class="ttname"><a href="classpcl_1_1io_1_1_l_z_f_y_u_v422_image_reader.html#acc7254e50a0aba7fc7f68c72170c5c8f">pcl::io::LZFYUV422ImageReader::readOMP</a></div><div class="ttdeci">bool readOMP(const std::string &amp;filename, pcl::PointCloud&lt; PointT &gt; &amp;cloud, unsigned int num_threads=0)</div><div class="ttdoc">Read the data stored in a PCLZF YUV422 file and convert it to a pcl::PointCloud type....</div><div class="ttdef"><b>Definition:</b> lzf_image_io.hpp:350</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_camera_parameters_html_a224e78d6978373075f9b527aedfe429b"><div class="ttname"><a href="structpcl_1_1io_1_1_camera_parameters.html#a224e78d6978373075f9b527aedfe429b">pcl::io::CameraParameters::focal_length_x</a></div><div class="ttdeci">double focal_length_x</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:53</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_camera_parameters_html_a2af06f9d1d958652804e26c608cd2ac1"><div class="ttname"><a href="structpcl_1_1io_1_1_camera_parameters.html#a2af06f9d1d958652804e26c608cd2ac1">pcl::io::CameraParameters::principal_point_y</a></div><div class="ttdeci">double principal_point_y</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:59</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_camera_parameters_html_aa6935383ac5be4f340151cc765078b68"><div class="ttname"><a href="structpcl_1_1io_1_1_camera_parameters.html#aa6935383ac5be4f340151cc765078b68">pcl::io::CameraParameters::focal_length_y</a></div><div class="ttdeci">double focal_length_y</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:55</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_camera_parameters_html_ad562d7b26e6740154a360a45f00fc5dd"><div class="ttname"><a href="structpcl_1_1io_1_1_camera_parameters.html#ad562d7b26e6740154a360a45f00fc5dd">pcl::io::CameraParameters::principal_point_x</a></div><div class="ttdeci">double principal_point_x</div><div class="ttdef"><b>Definition:</b> lzf_image_io.h:57</div></div>
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